Merge branch 'master' of github.com:ZhengyiLuo/PerpetualHumanoidControl

phc/data/cfg/sim/default_sim.yaml

@@ -7,7 +7,7 @@ use_flex: False
 
 substeps: 2
 physx:
-  sim_time_step: 1/60
+  step_dt: 1/60
   num_threads: 4
   solver_type: 1  # 0: pgs, 1: tgs
   num_position_iterations: 4

phc/data/cfg/sim/robot_sim.yaml

@@ -6,7 +6,7 @@ slices: 0 # Number of client threads that process env slices
 use_flex: False
 
 physx:
-  sim_time_step: 1/200
+  step_dt: 1/200
   num_threads: 4
   solver_type: 1  # 0: pgs, 1: tgs
   num_position_iterations: 4

phc/env/tasks/humanoid_amp.py

@@ -343,6 +343,7 @@ def _load_motion(self, motion_train_file, motion_test_file=[]):
                 "randomrize_heading": True,
                 "device": self.device,
                 "min_length": self._min_motion_len, 
+                "step_dt": self.dt,
             })
             self._motion_lib = MotionLibSMPL(motion_lib_cfg=motion_lib_cfg)
             self._motion_lib.load_motions(skeleton_trees=self.skeleton_trees, gender_betas=self.humanoid_shapes.cpu(), limb_weights=self.humanoid_limb_and_weights.cpu(), random_sample=not HACK_MOTION_SYNC)
@@ -359,6 +360,7 @@ def _load_motion(self, motion_train_file, motion_test_file=[]):
                 "randomrize_heading": True,
                 "device": self.device,
                 "robot": self.cfg.robot,
+                "step_dt": self.dt,
             })
             motion_eval_file = motion_train_file
             self._motion_train_lib = MotionLibReal(motion_lib_cfg)

phc/env/tasks/humanoid_im.py

@@ -328,6 +328,7 @@ def _load_motion(self, motion_train_file, motion_test_file=[]):
                 "smpl_type": self.humanoid_type,
                 "randomrize_heading": True,
                 "device": self.device,
+                "step_dt": self.dt,
             })
             motion_eval_file = motion_train_file
             self._motion_train_lib = MotionLibSMPL(motion_lib_cfg)
@@ -351,6 +352,7 @@ def _load_motion(self, motion_train_file, motion_test_file=[]):
                 "randomrize_heading": True,
                 "device": self.device,
                 "robot": self.cfg.robot,
+                "step_dt": self.dt,
             })
             motion_eval_file = motion_train_file
             self._motion_train_lib = MotionLibReal(motion_lib_cfg)

phc/run_hydra.py

@@ -76,7 +76,7 @@
 def parse_sim_params(cfg):
     # initialize sim
     sim_params = gymapi.SimParams()
-    sim_params.dt = eval(cfg.sim.physx.sim_time_step)
+    sim_params.dt = eval(cfg.sim.physx.step_dt)
     sim_params.num_client_threads = cfg.sim.slices
 
     if cfg.sim.use_flex:

phc/utils/config.py

@@ -170,7 +170,7 @@ def load_cfg(args):
 def parse_sim_params(args, cfg, cfg_train):
     # initialize sim
     sim_params = gymapi.SimParams()
-    sim_params.dt = eval(cfg.sim.physx.sim_time_step)
+    sim_params.dt = eval(cfg.sim.physx.step_dt)
     sim_params.num_client_threads = args.slices
 
     if args.physics_engine == gymapi.SIM_FLEX:

phc/utils/motion_lib_base.py

@@ -115,6 +115,8 @@ class MotionLibBase():
 
     def __init__(self, motion_lib_cfg):
         self.m_cfg = motion_lib_cfg
+        self._sim_fps = 1/self.m_cfg.get("step_dt", 1/30)
+        print("SIM FPS:", self._sim_fps)
         self._device = self.m_cfg.device
 
         self.mesh_parsers = None
@@ -428,9 +430,9 @@ def get_motion_length(self, motion_ids=None):
 
     def get_motion_num_steps(self, motion_ids=None):
         if motion_ids is None:
-            return (self._motion_num_frames * 30 / self._motion_fps).int()
+            return (self._motion_num_frames * self._sim_fps / self._motion_fps).ceil().int()
         else:
-            return (self._motion_num_frames[motion_ids] * 30 / self._motion_fps).int()
+            return (self._motion_num_frames[motion_ids] * self._sim_fps / self._motion_fps).ceil().int()
 
     def get_motion_state(self, motion_ids, motion_times, offset=None):
         n = len(motion_ids)